Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Not sure, but I'll bring this up.

While this is not a strategy talk first and foremost, we will most certainly discuss this. In particular, we will look back at the history of vision in FRC and you will quickly notice how often the vision challenge is a diversion for the majority of teams.

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Mostly likely, I won't be able to attend the conference (either session at 7pm), but I do have a question and a few examples of what I mean.

What are some rules of thumb for the prerequisites to attempting vision?
- Great PID Control (fast settle, little/no overshoot) or "Good Enough" PID Control
- Level of precision on drive train turning or (auton) "drive straight" distance offsets
- For high-load situations, is a braking mechanism necessary

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

I think it's interesting that Stronghold seemed to present the "perfect storm" of factors that made vision a viable and extremely value asset for a larger-than-ever subset of teams.

Looking forward to this talk!

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

I thought I'd share a clip we took today prepping for this conference presentation. We will definitely be going through all the pieces it takes to get a robot tracking like this!

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Tom and Jared, will you guys be discussing the realities of being able to process frames faster than the camera can produce them?

For example, a camera's maximum frame rate is listed at 30 frames per second, but your vision processing board can process over 80 frames per second.

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Too cool for school!

::ouch::

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

I didn't know you guys had ILM as a sponsor. ;) I kid.

Seriously cool and I'm really looking forward to this talk now.

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Some additional questions.
What is the minimum frame rate you feel is acceptable for FRC?
How much lag is acceptable and how do you cope with it.
What is the most efficient way to get targeting data into the RoboRio (TCP, UDP, Serial etc.)?

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

I think it will be addressed, but I would be curious to hear exactly how much control on 254 is done by drivers vs with vision. What are your failsafes if the vision board suddenly crashes/shorts/explodes?

Also, what other sensors do you combine with vision for a more complete picture of your control system. For example, if you want to know distance to a target, are you using only a camera for that, or are there other sensors that you use to crosscheck your measurements.

And, specifically on your robot, how do you relay to the drivers that everything is in position for a shot? Is there a giant green check mark, does the system just not let you fire until it's ready, is the firing also controlled autonomously, or do you have a different solution?

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

The operator holds a button saying they want to auto aim, and the driver holds a button saying that it's okay to shoot. Everything else is autonomous.

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Hmm - including sensing on the intake and ball pre-positioning?

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

The intake also has some automation but no, I was speaking about the aiming and shooting subsystem.

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

Do you guys find that it's easier to accurately position the turret than it is to turn the drivetrain? That gif is really impressive, and I'm wondering how much of that is the turret being mechanically easier to control. Do you do any motion profiling on it, or is it just PID?

I'm looking forward to your talk!

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

The turret is just running position PID (onboard a CAN Talon SRX). Turrets are much easier to control than a drivetrain (inertia, friction, and skidding are basically non-issues).

Re: Integrating Computer Vision with Motion Control - FIRST Championship Conference
 

I assume you are using the camera to generate the set-point. Are you closing the loop with the camera as well, or are you using some other sensor like a gyro or encoder?